Sync your Android contacts to your Google account
On iPhone, add the same Google account in Settings
Turn on Contacts sync for the Google account on iPhone
Export contacts from Android as a .vcf file
Send the .vcf file to the iPhone by email, AirDrop alternative, or cloud storage
Open the .vcf file on iPhone and import the contacts
Use the Move to iOS app during iPhone setup to transfer contacts
Use a third-party contact transfer app if needed